The paper presents detailed modelling of rotor, electro-magnetic actuators, and accompanying electronics of an in-house-developed active magnetic bearing (AMB) test rig in a unified manner. The work is the extension of our previous work on a 1-degree-of-freedom (DOF) cantilever beam while in here, the challenging problem of levitating and spinning a 2 DOF rotor on a pair of opposing EMs is investigated. Classical three-term PID controllers are designed as a benchmark controllers, in frequency domain to stabilize the 2-DOF open-loop unstable system, and the performance is compared with the modern state-space control strategies, namely Linear Quadratic Gaussian (LQG) and combined LQG-Loop Transfer Recovery (LQG\LTR) compensators. The tuned robust controllers are deployed on a custom-designed hardware using Simulink Real-Time software. Dual axes controllers performed reasonably well when subjected to static and dynamic tests both in simulation and in experimentation. The key time domain performance objectives such as reference tracking, disturbance rejection, and minimal control efforts as well as frequency domain stability margins are accomplished. The validity of the developed model is thus confirmed through successful synthesis and implementation of both PID and LQG\LTR controllers, wherein the robust controller (LQG\LTR) outperformed the benchmark controller in terms of performance, i.e. minimal overshoot, superior disturbance rejection capabilities, and improved loop gain characteristics. The AMB actuator also showed reasonable dynamic behaviour when the levitated rotor was spun at 1000 r/min. The dynamic performance was evaluated through a two-dimensional rotor orbit plot. The study goes beyond theory and underscores practical design considerations and demonstrates real-time controller implementation.

本文以统一的方式介绍了内部开发的主动磁轴承（AMB）测试台的转子，电磁执行器和随附电子设备的详细建模。这项工作是对我们先前在1自由度（DOF）悬臂梁上进行的工作的扩展，而在这里，我们研究了在一对相对的EM上悬浮和旋转2 DOF转子这一具有挑战性的问题。经典的三项PID控制器在频域中被设计为基准控制器，以稳定2自由度开环不稳定系统，并且将其性能与现代状态空间控制策略（线性二次高斯（LQG）和组合的LQG环路传输恢复（LQG \ LTR）补偿器。使用Simulink Real-Time软件将经过调整的强大控制器部署在定制设计的硬件上。在仿真和实验中，双轴控制器在进行静态和动态测试时均表现良好。完成了关键的时域性能目标，例如参考跟踪，干扰抑制和最小的控制工作以及频域稳定性裕度。因此，通过PID和LQG \ LTR控制器的成功综合和实施，可以验证所开发模型的有效性，其中鲁棒控制器（LQG \ LTR）在性能方面（即最小过冲，出色的抗干扰能力）优于基准控制器，并改善了环路增益特性。当悬浮转子以1000 r / min旋转时，AMB执行器还显示出合理的动态行为。通过二维转子轨道图评估了动态性能。